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<pre><span class="sourceLineNo">001</span>/*----------------------------------------------------------------------------*/<a name="line.1"></a>
<span class="sourceLineNo">002</span>/* Copyright (c) FIRST 2008. All Rights Reserved.                             */<a name="line.2"></a>
<span class="sourceLineNo">003</span>/* Open Source Software - may be modified and shared by FRC teams. The code   */<a name="line.3"></a>
<span class="sourceLineNo">004</span>/* must be accompanied by the FIRST BSD license file in the root directory of */<a name="line.4"></a>
<span class="sourceLineNo">005</span>/* the project.                                                               */<a name="line.5"></a>
<span class="sourceLineNo">006</span>/*----------------------------------------------------------------------------*/<a name="line.6"></a>
<span class="sourceLineNo">007</span><a name="line.7"></a>
<span class="sourceLineNo">008</span>package edu.wpi.first.wpilibj.templates;<a name="line.8"></a>
<span class="sourceLineNo">009</span><a name="line.9"></a>
<span class="sourceLineNo">010</span><a name="line.10"></a>
<span class="sourceLineNo">011</span>import edu.wpi.first.wpilibj.DriverStationLCD;<a name="line.11"></a>
<span class="sourceLineNo">012</span>import edu.wpi.first.wpilibj.Watchdog;<a name="line.12"></a>
<span class="sourceLineNo">013</span>import edu.wpi.first.wpilibj.IterativeRobot;<a name="line.13"></a>
<span class="sourceLineNo">014</span>import edu.wpi.first.wpilibj.command.Command;<a name="line.14"></a>
<span class="sourceLineNo">015</span>import edu.wpi.first.wpilibj.command.Scheduler;<a name="line.15"></a>
<span class="sourceLineNo">016</span>import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;<a name="line.16"></a>
<span class="sourceLineNo">017</span>import edu.wpi.first.wpilibj.templates.commands.AutonomousCommand;<a name="line.17"></a>
<span class="sourceLineNo">018</span>import edu.wpi.first.wpilibj.templates.commands.CommandBase;<a name="line.18"></a>
<span class="sourceLineNo">019</span>import edu.wpi.first.wpilibj.templates.commands.ExampleCommand;<a name="line.19"></a>
<span class="sourceLineNo">020</span>import edu.wpi.first.wpilibj.templates.commands.driver.Drive;<a name="line.20"></a>
<span class="sourceLineNo">021</span>import edu.wpi.first.wpilibj.templates.commands.dropper.MoveDoorJoystick;<a name="line.21"></a>
<span class="sourceLineNo">022</span>import edu.wpi.first.wpilibj.templates.commands.lifter.ControlScissors;<a name="line.22"></a>
<span class="sourceLineNo">023</span><a name="line.23"></a>
<span class="sourceLineNo">024</span>/**<a name="line.24"></a>
<span class="sourceLineNo">025</span> * The VM is configured to automatically run this class, and to call the<a name="line.25"></a>
<span class="sourceLineNo">026</span> * functions corresponding to each mode, as described in the IterativeRobot<a name="line.26"></a>
<span class="sourceLineNo">027</span> * documentation. If you change the name of this class or the package after<a name="line.27"></a>
<span class="sourceLineNo">028</span> * creating this project, you must also update the manifest file in the resource<a name="line.28"></a>
<span class="sourceLineNo">029</span> * directory.<a name="line.29"></a>
<span class="sourceLineNo">030</span> */<a name="line.30"></a>
<span class="sourceLineNo">031</span>public class RobotTemplate extends IterativeRobot {<a name="line.31"></a>
<span class="sourceLineNo">032</span><a name="line.32"></a>
<span class="sourceLineNo">033</span>    Command autonomousCommand;<a name="line.33"></a>
<span class="sourceLineNo">034</span><a name="line.34"></a>
<span class="sourceLineNo">035</span>    /**<a name="line.35"></a>
<span class="sourceLineNo">036</span>     * This function is run when the robot is first started up and should be<a name="line.36"></a>
<span class="sourceLineNo">037</span>     * used for any initialization code.<a name="line.37"></a>
<span class="sourceLineNo">038</span>     */<a name="line.38"></a>
<span class="sourceLineNo">039</span>    public void robotInit() {<a name="line.39"></a>
<span class="sourceLineNo">040</span>        // instantiate the command used for the autonomous period<a name="line.40"></a>
<span class="sourceLineNo">041</span>        autonomousCommand = new AutonomousCommand();<a name="line.41"></a>
<span class="sourceLineNo">042</span><a name="line.42"></a>
<span class="sourceLineNo">043</span>        // Initialize all subsystems<a name="line.43"></a>
<span class="sourceLineNo">044</span>         RobotMap.init();<a name="line.44"></a>
<span class="sourceLineNo">045</span>         System.out.println("Robot Map Initialised");<a name="line.45"></a>
<span class="sourceLineNo">046</span>        CommandBase.init();<a name="line.46"></a>
<span class="sourceLineNo">047</span>        System.out.println("Command Base Initialised");<a name="line.47"></a>
<span class="sourceLineNo">048</span>        initSmartDashboard();<a name="line.48"></a>
<span class="sourceLineNo">049</span>        System.out.println("Smart Dashboard Initialised");<a name="line.49"></a>
<span class="sourceLineNo">050</span>        <a name="line.50"></a>
<span class="sourceLineNo">051</span>        <a name="line.51"></a>
<span class="sourceLineNo">052</span>    }<a name="line.52"></a>
<span class="sourceLineNo">053</span><a name="line.53"></a>
<span class="sourceLineNo">054</span>    public void autonomousInit() {<a name="line.54"></a>
<span class="sourceLineNo">055</span>        // schedule the autonomous command (example)<a name="line.55"></a>
<span class="sourceLineNo">056</span>        autonomousCommand.start();<a name="line.56"></a>
<span class="sourceLineNo">057</span>        System.out.println("Autonomous Command Started");<a name="line.57"></a>
<span class="sourceLineNo">058</span>        DriverStationLCD.getInstance().println(DriverStationLCD.Line.kMain6, 1, "Autonomous Started");<a name="line.58"></a>
<span class="sourceLineNo">059</span>        DriverStationLCD.getInstance().updateLCD();<a name="line.59"></a>
<span class="sourceLineNo">060</span>        Scheduler.getInstance().add(new AutonomousCommand());<a name="line.60"></a>
<span class="sourceLineNo">061</span>    }<a name="line.61"></a>
<span class="sourceLineNo">062</span><a name="line.62"></a>
<span class="sourceLineNo">063</span>    /**<a name="line.63"></a>
<span class="sourceLineNo">064</span>     * This function is called periodically during autonomous<a name="line.64"></a>
<span class="sourceLineNo">065</span>     */<a name="line.65"></a>
<span class="sourceLineNo">066</span>    public void autonomousPeriodic() {<a name="line.66"></a>
<span class="sourceLineNo">067</span>        Scheduler.getInstance().run();<a name="line.67"></a>
<span class="sourceLineNo">068</span>        periodicSmartDashboard();<a name="line.68"></a>
<span class="sourceLineNo">069</span>    }<a name="line.69"></a>
<span class="sourceLineNo">070</span><a name="line.70"></a>
<span class="sourceLineNo">071</span>    public void teleopInit() {<a name="line.71"></a>
<span class="sourceLineNo">072</span>        // This makes sure that the autonomous stops running when<a name="line.72"></a>
<span class="sourceLineNo">073</span>        // teleop starts running. If you want the autonomous to <a name="line.73"></a>
<span class="sourceLineNo">074</span>        // continue until interrupted by another command, remove<a name="line.74"></a>
<span class="sourceLineNo">075</span>        // this line or comment it out.<a name="line.75"></a>
<span class="sourceLineNo">076</span>        autonomousCommand.cancel();<a name="line.76"></a>
<span class="sourceLineNo">077</span>        System.out.println("Autonomous Period Ended");<a name="line.77"></a>
<span class="sourceLineNo">078</span>        Scheduler.getInstance().removeAll();<a name="line.78"></a>
<span class="sourceLineNo">079</span>        Scheduler.getInstance().add(new Drive());<a name="line.79"></a>
<span class="sourceLineNo">080</span>        Scheduler.getInstance().add(new ControlScissors());<a name="line.80"></a>
<span class="sourceLineNo">081</span>        Scheduler.getInstance().add(new MoveDoorJoystick());<a name="line.81"></a>
<span class="sourceLineNo">082</span>        Scheduler.getInstance().run();<a name="line.82"></a>
<span class="sourceLineNo">083</span>        System.out.println("Teleop Ininitialised");<a name="line.83"></a>
<span class="sourceLineNo">084</span>        <a name="line.84"></a>
<span class="sourceLineNo">085</span>    }<a name="line.85"></a>
<span class="sourceLineNo">086</span><a name="line.86"></a>
<span class="sourceLineNo">087</span>    /**<a name="line.87"></a>
<span class="sourceLineNo">088</span>     * This function is called periodically during operator control<a name="line.88"></a>
<span class="sourceLineNo">089</span>     */<a name="line.89"></a>
<span class="sourceLineNo">090</span>    public void teleopPeriodic() {<a name="line.90"></a>
<span class="sourceLineNo">091</span>        Scheduler.getInstance().run();<a name="line.91"></a>
<span class="sourceLineNo">092</span>        periodicSmartDashboard();<a name="line.92"></a>
<span class="sourceLineNo">093</span>    }<a name="line.93"></a>
<span class="sourceLineNo">094</span>    public void initSmartDashboard() //to be tested<a name="line.94"></a>
<span class="sourceLineNo">095</span>    {<a name="line.95"></a>
<span class="sourceLineNo">096</span>        SmartDashboard.putNumber("Cycles: ", 0);<a name="line.96"></a>
<span class="sourceLineNo">097</span>        SmartDashboard.putNumber("Target Cycles: ", 0);<a name="line.97"></a>
<span class="sourceLineNo">098</span>        SmartDashboard.putNumber("Hanged Position in Cycles: ",0);<a name="line.98"></a>
<span class="sourceLineNo">099</span>        SmartDashboard.putNumber("Collection Position in Cycles: ",0);<a name="line.99"></a>
<span class="sourceLineNo">100</span>        SmartDashboard.putNumber("Hanging Position in Cycles: ",0);<a name="line.100"></a>
<span class="sourceLineNo">101</span>        SmartDashboard.putNumber("Scoring Position in Cycles: ",0);<a name="line.101"></a>
<span class="sourceLineNo">102</span>    }<a name="line.102"></a>
<span class="sourceLineNo">103</span>    public void periodicSmartDashboard()<a name="line.103"></a>
<span class="sourceLineNo">104</span>    {<a name="line.104"></a>
<span class="sourceLineNo">105</span>        if (CommandBase.lifter.getSpeedLifter1() &gt; 0) {<a name="line.105"></a>
<span class="sourceLineNo">106</span>            SmartDashboard.putNumber("Cycles: ", CommandBase.lifter.numOfCycles + CommandBase.lifter.getNumOfCycles());<a name="line.106"></a>
<span class="sourceLineNo">107</span>        } else {<a name="line.107"></a>
<span class="sourceLineNo">108</span>            SmartDashboard.putNumber("Cycles: ", CommandBase.lifter.numOfCycles - CommandBase.lifter.getNumOfCycles());<a name="line.108"></a>
<span class="sourceLineNo">109</span>        }<a name="line.109"></a>
<span class="sourceLineNo">110</span>        SmartDashboard.putBoolean("Is the Door Closed: ", CommandBase.dropper.getCloseMicro());<a name="line.110"></a>
<span class="sourceLineNo">111</span>        SmartDashboard.putBoolean("Is the Door Open: ", CommandBase.dropper.getOpenMicro());<a name="line.111"></a>
<span class="sourceLineNo">112</span>        SmartDashboard.putBoolean("Are the Scissors at the Bottom: ", CommandBase.lifter.getBottom());<a name="line.112"></a>
<span class="sourceLineNo">113</span>        SmartDashboard.putBoolean("Are the Scissors at the Top: ", CommandBase.lifter.getTop());<a name="line.113"></a>
<span class="sourceLineNo">114</span>        SmartDashboard.putNumber("Speed of Scissors Engine 1: ", CommandBase.lifter.getSpeedLifter1());<a name="line.114"></a>
<span class="sourceLineNo">115</span>        SmartDashboard.putNumber("Speed of Scissors Engine 2: ", CommandBase.lifter.getSpeedLifter2());<a name="line.115"></a>
<span class="sourceLineNo">116</span>    }<a name="line.116"></a>
<span class="sourceLineNo">117</span>}<a name="line.117"></a>




























































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